An Optimal Control Approach to the Minimum-Time Trajectory Planning of Robotic Manipulators
Trajectory planning is a classic problem in robotics, with different approaches and optimisation objectives documented in the literature. Most of the time, the path is assumed, i.e., pre-defined, and optimisation consists of finding the timing of motion under a number of constraints. The focus of th...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-04-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/12/3/64 |